Search found 6 matches

by sam3891
18 Nov 2015, 16:54
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26067

Re: Torque control

Hi admin, Thank you for your patience. So this is what I was thinking of: Calculate torque in MATLAB simxSetJointForce Trigger On V-Rep Side, in a joint ctrl callback script: Torque = maxTorque (this is what MATLAB gives) - ( damping factor * current velocity) Apply this calculated torque several ti...
by sam3891
18 Nov 2015, 15:47
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26067

Re: Torque control

Hi,

I want to ensure that the torque being communicated over by MATLAB to VREP is applied without lag. So I want to run the joint script several times per simulation step.
by sam3891
16 Nov 2015, 14:07
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26067

Re: Torque control

Hi, I have the code as per what you said. So my question again is: Hi, I want to implement an application on the "KUKA_LBR_iiwa_14_R820", where I calculate torques on the MATLAB side and send them across to VREP using simxSetJointForce and simxSetJointVelocity. for i=1:7 if( torque(i)>0.0 ) velocity...
by sam3891
13 Nov 2015, 17:03
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26067

Re: Torque control

Hi, I want to implement an application on the "KUKA_LBR_iiwa_14_R820", where I calculate torques on the MATLAB side and send them across to VREP using simxSetJointForce and simxSetJointVelocity. for i=1:7 if( torque(i)>0.0 ) velocity(i) = 9999.0; elseif (torque(i) <0.0) velocity(i) = -9999.0; else v...
by sam3891
06 Nov 2015, 16:03
Forum: General questions
Topic: Synchronizing MATLAB with V-REP
Replies: 3
Views: 2539

Re: Synchronizing MATLAB with V-REP

I am using the synchronous mode, but the command simxSetJointPosition got executed automatically without any triggers, even though synchronous mode was on. Is this normal?
by sam3891
30 Oct 2015, 18:11
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26067

Re: Torque control

Hi, How does this work then in the joint space, where a torque vector is only one value? I am trying to generate a custom torque controller in MATLAB by following your suggestion, but on the VREP side, the function simAddForceAndTorque requires 3 coordinates per joint, whereas MATLAB generates one j...